/*
 * CostMarker.h
 *
 *  Created on: Oct 21, 2010
 *      Author: sanjeev
 */
#include <constants.h>

#ifndef COSTMARKER_H_
#define COSTMARKER_H_

class CostMarker {
	visualization_msgs::Marker point;
public:
	CostMarker();
	void Plot(MATRIX &,ros::Publisher &,double grain = 0.1);
	void PlotPoses(int x, int y, ros::Publisher &pub, double grain);
	void PlotPath(std::vector<PII> path, ros::Publisher &pub, double grain);
	virtual ~CostMarker();
};

#endif /* COSTMARKER_H_ */
